Related papers: The Application of Market-based Multi-Robot Task A…
We propose a new formulation for the multi-robot task planning and allocation problem that incorporates (a) precedence relationships between tasks; (b) coordination for tasks allowing multiple robots to achieve increased efficiency; and (c)…
In this work, we address a task allocation problem for human multi-robot settings. Given a set of tasks to perform, we formulate a general Mixed-Integer Linear Programming (MILP) problem aiming at minimizing the overall execution time while…
A fundamental question in any peer-to-peer ridesharing system is how to, both effectively and efficiently, dispatch user's ride requests to the right driver in real time. Traditional rule-based solutions usually work on a simplified problem…
We consider a multi-robot system with a team of collaborative robots and multiple tasks that emerges over time. We propose a fully decentralized task and path planning (DTPP) framework consisting of a task allocation module and a localized…
Service robots are increasingly entering the home to provide domestic tasks for residents. However, when working in an open, dynamic, and unstructured home environment, service robots still face challenges such as low intelligence for task…
For all multifunctional radar systems the allocation of resources plays an outstanding role. Many radars have low priority on surveillance tasks. In challenging situations this leads to neglecting of surveillance beams in directions where…
Multi-robot task allocation usually assumes some combination of communication, known task models, or a coordinator. We study the opposite extreme, a regime common in practice but overlooked in theory, which we name Zero-Knowledge MRTA…
Timely transportation of organs, patients, and medical supplies is critical to modern healthcare, particularly in emergencies and transplant scenarios where even short delays can severely impact outcomes. Traditional ground-based vehicles…
This paper considers deployment problems where a mobile robotic network must optimize its configuration in a distributed way in order to minimize a steady-state cost function that depends on the spatial distribution of certain probabilistic…
We investigate the problem of coordinating two robot arms to solve non-monotone tabletop multi-object rearrangement tasks. In a non-monotone rearrangement task, complex object-object dependencies exist that require moving some objects…
In multi-robot system (MRS) applications, efficient task assignment is essential not only for coordinating agents and ensuring mission success but also for maintaining overall system security. In this work, we first propose an…
In this paper, a joint task, spectrum, and transmit power allocation problem is investigated for a wireless network in which the base stations (BSs) are equipped with mobile edge computing (MEC) servers to jointly provide computational and…
Trust is essential in human-robot collaboration, particularly in multi-human, multi-robot (MH-MR) teams, where it plays a crucial role in maintaining team cohesion in complex operational environments. Despite its importance, trust is rarely…
In this paper, a learning-based optimal transportation algorithm for autonomous taxis and ridesharing vehicles is presented. The goal is to design a mechanism to solve the routing problem for multiple autonomous vehicles and multiple…
This paper presents a new simulation-based approach to address the stochastic Dynamic Traffic Assignment (DTA) problem, focusing on large congested networks and dynamic settings. The proposed methodology incorporates a random walk model…
The use of semi-autonomous and autonomous robotic assistants to aid in care of the elderly is expected to ease the burden on human caretakers, with small-stage testing already occurring in a variety of countries. Yet, it is likely that…
Autonomous robots have real-world applications in diverse fields, such as mobile manipulation and environmental exploration, and many such tasks benefit from a hands-off approach in terms of human user involvement over a long task horizon.…
This paper presents a real-time trajectory planning scheme for a heterogeneous multi-robot system (consisting of a quadrotor and a ground mobile robot) for a cooperative landing task, where the landing position, landing time, and…
Earth observation resources are becoming increasingly indispensable in disaster relief, damage assessment and related domains. Many unpredicted factors, such as the change of observation task requirements, to the occurring of bad weather…
Autonomous mobile robots (AMRs) play a crucial role in transportation and service tasks at hospitals, contributing to enhanced efficiency and meeting medical demands. This paper investigates the optimization problem of scheduling strategies…